Mechanical leg and robot

Abstract

The invention provides a mechanical leg and a robot. The mechanical leg comprises a rack, a foot assembly, a leg mechanism, a driving mechanism and a machine body used for being installed on the robot. The leg mechanism is rotationally connected with the rack; the leg mechanism further comprises a first leg mechanism, a second leg mechanism and nth leg mechanisms, the foot assembly is connected to the lower end of the nth leg mechanism and rotationally connected with the nth leg mechanism, a power source of the driving mechanism is connected to the upper end of the first leg mechanism, and a power source of the driving mechanism is connected to the lower end of the nth leg mechanism. The driving mechanism is connected with the foot assembly to drive the foot assembly to rotate relative to the nth leg mechanism; the driving mechanism is connected with the first leg mechanism to the nth leg mechanism and used for driving the second leg mechanism to linearly move in the vertical direction relative to the first leg mechanism, and the like, the driving mechanism is further used for driving the nth leg mechanism to linearly move in the vertical direction relative to the (n-1) th leg mechanism, the vertical direction is the extending direction of the first leg mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a mechanical leg and a robot. Background Art

[0002] With the advancement of technology, the application of robots is becoming more and more common.

[0003] In order to adjust the height of the robot body, the legs of the robot are usually retractable, but the retractable travel of the legs of existing robots is relatively short. Summary of the invention

[0004] In view of this, the present application proposes a mechanical leg and a robot.

[0005] In a first aspect, a mechanical leg comprises:

[0006] A frame, for mounting to the body of the robot;

[0007] A leg mechanism is rotatably connected to the frame; the leg mechanism further comprises a first leg mechanism, a second leg mechanism and an nth leg mechanism, when the leg length of the leg mechanism is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom, the first leg mechanism comprises a seat frame, the seat frame is used to be rotatably connected to the frame, the second leg mechanism is used to be slidably connected to the first leg mechanism, and so on, the nth leg mechanism is slidably connected to the n-1 leg mechanism, wherein n>2;

[0008] A foot assembly; the foot assembly is connected to the lower end of the nth leg mechanism and is rotationally connected to the nth leg mechanism;

[0009] A driving mechanism, wherein a power source of the driving mechanism is connected to the upper end of the first leg mechanism, and the driving mechanism is connected to the foot assembly to drive the foot assembly to rotate relative to the nth leg mechanism;

[0010] The driving mechanism is connected to the first leg mechanism to the nth leg mechanism and is used to drive the second leg mechanism to move linearly in the up and down direction relative to the first leg mechanism, and so on. The driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down direction relative to the n-1th leg mechanism, and the up and down direction is the extension direction of the first leg mechanism.

[0011] In a second aspect, the present application provides a robot, comprising a frame, a body, and a mechanical leg as provided in any embodiment of the present application, wherein the frame is used to be mounted to the body, and the mechanical leg is rotatably connected to the frame.

[0012] The present application provides a mechanical leg and a robot, wherein the mechanical leg is provided with a multi-section leg, so that the elongation of the mechanical leg can be increased. At the same time, by providing the power source of the driving mechanism at the upper end of the leg, it is beneficial to increase the center of gravity of the mechanical leg, reduce the rotational inertia of the mechanical leg when rotating relative to the body, and thus help control the energy consumption of the robot and improve the response speed of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0015] Figure 2 A schematic structural diagram of a mechanical leg proposed in an embodiment of the present application having only two legs.

[0016] Figure 3 This is a schematic structural diagram from another perspective of a mechanical leg having only two legs proposed in an embodiment of the present application.

[0017] Figure 4 This is a schematic diagram of the structure of some components of the two-section mechanical leg proposed in an embodiment of the present application.

[0018] Figure 5 This is a schematic diagram of the structure of some components of the multi-section leg of the mechanical leg proposed in an embodiment of the present application when extended.

[0019] Figure 6 This is a schematic diagram of the structure of some components of the multi-section leg of the mechanical leg proposed in an embodiment of the present application when it is shortened.

[0020] Description of reference numerals:

[0021] 100. Robotic leg; 10. Leg mechanism; 10a. (n-1)th leg mechanism; 10b. (n)th leg mechanism; 20. Foot assembly; 30. Driving mechanism; 31. First motor; 32. First transmission assembly; 321. First driving wheel; 322. First transmission wheel; 323. Second transmission wheel; 324. First driven wheel; 325. First flexible transmission member; 33. Second motor; 34. Second transmission assembly; 341. Second driving wheel; 342. Third transmission wheel; 343. Fourth transmission wheel; 344. Second flexible transmission member; 40. Frame; 1000. Robot. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0024] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0025] The terms used in this specification of the application are only for the purpose of describing specific embodiments and are not intended to limit the application. For example, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0026] Figures 1 to 4 It is a schematic diagram of the structure of a two-section mechanical leg.

[0027] Figure 5 and Figure 6 FIG. 1 is a schematic diagram of the structure of a mechanical leg 100 that is a multi-segment leg.

[0028] like Figures 1 to 6As shown, this embodiment provides a mechanical leg 100, including a frame 40, a leg mechanism 10, a foot assembly 20, and a driving mechanism 30, wherein the frame 40 is used to be installed on the body of the robot 1000; the leg mechanism 10 is rotatably connected to the frame 40; the leg mechanism 10 also includes a first leg mechanism, a second leg mechanism and an n-th leg mechanism 10b, when the leg length of the leg mechanism 10 is at its longest, the first leg mechanism to the n-th leg mechanism 10b are arranged from top to bottom, the first leg mechanism includes a seat frame, the seat frame is used to be rotatably connected to the frame 40, the second leg mechanism is used to be slidably connected to the first leg mechanism, and so on, the n-th leg mechanism 10b is slidably connected to the n-1-th leg mechanism 10a, wherein n>2; the foot component 20 is connected to the lower end of the nth leg mechanism 10b and is rotationally connected to the nth leg mechanism 10b, the power source of the driving mechanism 30 is connected to the upper end of the first leg mechanism, and the driving mechanism 30 is connected to the foot component 20 to drive the foot component 20 to rotate relative to the nth leg mechanism 10b; the driving mechanism 30 is connected to the first leg mechanism to the nth leg mechanism 10b and is used to drive the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism, and so on, the driving mechanism 30 is also used to drive the nth leg mechanism 10b to move linearly along the up and down direction relative to the n-1th leg mechanism 10a, and the up and down direction is the extension direction of the first leg mechanism.

[0029] By providing a multi-section leg, the extension of the robot leg 100 can be increased. At the same time, by providing the power source of the driving mechanism 30 at the upper end of the leg, it is helpful to increase the center of gravity of the robot leg 100 and reduce the moment of inertia of the robot leg 100 when rotating relative to the body, which is helpful to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0030] In some embodiments, the foot assembly 20 is a wheel assembly, which includes a wheel and a wheel axle. The wheel axle is fixedly connected to the wheel, and the wheel axle is rotationally connected to the leg mechanism 10 through a bearing to rotationally connect the wheel and the leg mechanism 10.

[0031] It should be noted that the up and down direction of the present application is the extension direction of the first leg mechanism. When the mechanical leg 100 is standing, the up and down direction is the vertical direction. When the mechanical leg 100 is placed horizontally in reverse, the up and down direction is the horizontal direction.

[0032] That is to say, the driving mechanism 30 is not only used to drive the foot assembly 20 to rotate relative to the leg mechanism 10, but also used to drive the leg mechanism 10 to perform telescopic movement.

[0033] The driving mechanism 30 includes a first driving member and a second driving member. The power sources of the first driving member and the second driving member are connected to the upper end of the first leg mechanism. The first driving member is connected to the foot assembly 20 and the first leg mechanism to the nth leg mechanism 10b; the second driving member is connected to the first leg mechanism to the nth leg mechanism 10b.

[0034] The first driving member and the second driving member are used to work together to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10b; the first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism; and by analogy, the first driving member and the second driving member are also used to work together to drive the nth leg mechanism 10b to move linearly in the up-down direction relative to the n-1th leg mechanism 10a, and the up-down direction is the extension direction of the first leg mechanism. The first driving member and the second driving member work together to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, so that the power sources of the first driving member and the second driving member are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the cost of use.

[0035] At the same time, the power sources of the first driving component and the second driving component are connected to the upper end of the first leg mechanism, which is beneficial to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when it rotates relative to the fuselage, which is beneficial to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0036] The first driving member and the second driving member work together to cooperate in driving the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, so that the power sources of the first driving member and the second driving member are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use. In this embodiment, the robotic leg 100 has a first motion state, a second motion state and a third motion state, and the robotic leg 100 can switch freely among the first motion state, the second motion state and the third motion state; in the first motion state, the driving mechanism 30 is used to drive the foot assembly 20 to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism 10b is stationary relative to the n-1th leg mechanism 10a; in the second motion state, the driving mechanism 30 is used to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and so on, the driving mechanism 30 is also used to drive the nth leg mechanism 10b to move linearly in the up-down direction relative to the n-1th leg mechanism 10a, and the foot assembly 20 does not rotate; in the third motion state, the driving mechanism 30 is used to drive the foot assembly 20 to rotate while driving the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and so on, the driving mechanism 30 is also used for the nth leg mechanism 10b to move linearly in the up-down direction relative to the n-1th leg mechanism 10a.

[0037] The robot 1000 has multiple motion states, so that the gait of the robot 1000 can be diversified, making the robot 1000 more flexible and able to adapt to different environments.

[0038] It should be noted that when the leg mechanism 10 of the robot 1000 is extending or retracting, since the mechanical leg 100 is in contact with the ground, when all the leg mechanisms 10 of the robot 1000 are extended, the nth leg mechanism 10b remains stationary relative to the ground, and the n-1th leg mechanism 10a moves up and down relative to the nth leg mechanism 10b to achieve extension and retraction of the mechanical leg 100.

[0039] In some embodiments, the first driving member includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the first leg mechanism; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the foot assembly 20, the first leg mechanism, the second leg mechanism to the nth leg mechanism 10b; the second driving member includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first leg mechanism; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first leg mechanism, the second leg mechanism to the nth leg mechanism 10b.

[0040] The first motor 31 and the second motor 33 are used to drive the first transmission assembly 32 and the second transmission assembly 34 respectively to cooperate with each other to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10b and drive the nth leg mechanism 10b to move linearly in the up and down directions relative to the (n-1)th leg mechanism 10a.

[0041] The first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the foot assembly 20 to rotate and / or the leg mechanism 10 to extend and retract, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0042] like Figure 5 and Figure 6 As shown, in this embodiment, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotationally connected to the nth leg mechanism 10b and connected to the foot assembly 20, and the first driven wheel 324 can drive the foot assembly 20 to rotate when it rotates; the second driving wheel 341 is connected to the output shaft of the second motor 33.

[0043] The first transmission wheel 322 is rotatably set on the first leg mechanism to the n-1th leg mechanism 10a; the second transmission wheel 323 is rotatably set on the second leg mechanism to the n-1th leg mechanism 10b; the third transmission wheel 342 is rotatably set on the first leg mechanism to the n-1th leg mechanism 10a; the fourth transmission wheel 343 is rotatably set on the second leg mechanism to the n-1th leg mechanism 10b.

[0044] The first transmission wheel 322 on the first leg mechanism is arranged between the first driving wheel 321 and the first driven wheel 324; the first transmission wheel 322 of the second leg mechanism is arranged between the second transmission wheel 323 rotatably arranged on the second leg mechanism and the first driven wheel 324; and so on, the first transmission wheel 322 on the n-1 leg mechanism 10a is arranged between the second transmission wheel 323 rotatably arranged on the n-1 leg mechanism 10a and the first driven wheel 324.

[0045] The third transmission wheel 342 on the first leg mechanism is arranged between the second driving wheel 341 and the first driven wheel 324; the third transmission wheel 342 of the second leg mechanism is arranged between the fourth transmission wheel 343 rotatably arranged on the second leg mechanism and the first driven wheel 324; and so on, the third transmission wheel 342 on the n-1th leg mechanism 10a is arranged between the fourth transmission wheel 343 rotatably arranged on the n-1th leg mechanism 10a and the first driven wheel 324.

[0046] When the leg mechanism 10 is extended to the maximum, the highest point height of the second transmission wheel 323 on the second leg mechanism is not lower than the lowest point height of the first transmission wheel 322 on the first leg mechanism, and so on, the highest point height of the second transmission wheel 323 of the nth leg mechanism 10b is not lower than the lowest point height of the first transmission wheel 322 on the n-1th leg mechanism 10a; and the highest point height of the fourth transmission wheel 343 of the second leg mechanism is not lower than the lowest point height of the third transmission wheel 342 on the first leg mechanism, and so on, the fourth transmission wheel 343 of the nth leg mechanism 10b is arranged above the third transmission wheel 342 on the n-1th leg mechanism 10a.

[0047] The first flexible transmission member 325 is transmission-connected with the first driving wheel 321, the first transmission wheel 322 on the first leg mechanism to the n-1th leg mechanism 10a, the second transmission wheel 323 on the second leg mechanism to the n-1th leg mechanism 10b, and the first driven wheel 324 to form a closed transmission loop; the second flexible transmission member 344 is transmission-connected with the second driving wheel 341, the third transmission wheel 342 on the first leg mechanism to the n-1th leg mechanism 10a, the fourth transmission wheel 343 on the second leg mechanism to the n-1th leg mechanism 10b, and the first driven wheel 324 to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least Part is configured to be parallel to the up-down direction; the flexible transmission member between the first transmission wheel 322 on the first leg mechanism and the second transmission wheel 323 on the second leg mechanism is at least partially configured to be parallel to the up-down direction; and so on; the flexible transmission member between the first transmission wheel on the n-1th leg mechanism 10a and the second transmission wheel 323 on the n-th leg mechanism 10b is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the third transmission wheel 342 on the first leg mechanism and the fourth transmission wheel 343 on the second leg mechanism is at least partially configured to be parallel to the up-down direction; and so on, the flexible transmission member between the third transmission wheel 342 on the n-1th leg mechanism 10a and the fourth transmission wheel 343 on the n-th leg mechanism 10b is at least partially configured to be parallel to the up-down direction.

[0048] It should be noted that the first transmission wheel 322 is rotatably arranged on the first leg mechanism to the n-1 leg mechanism 10a, and the second transmission wheel 323 is rotatably arranged on the second leg mechanism to the n-1 leg mechanism 10b; the third transmission wheel 342 is rotatably arranged on the first leg mechanism to the n-1 leg mechanism 10b; the fourth transmission wheel 343 is rotatably arranged on the second leg mechanism to the n-1 leg mechanism 10a; the number of the first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342 and the fourth transmission wheel 343 is not limited here. Due to the interference problem between the structures, the number of transmission wheels arranged between different legs may be different, and the number of transmission wheels is set according to the actual situation. For example, three second transmission wheels 323 are arranged on the second leg mechanism, and four second transmission wheels 323 are arranged on the third leg mechanism 10.

[0049] Due to structural interference issues, the flexible transmission member connected between different transmission wheels may not remain parallel to the up-and-down direction throughout the entire section, but it is sufficient to ensure that the flexible transmission member between the transmission wheel directly connected to the first leg mechanism and the transmission wheel connected to the second leg mechanism remains parallel to the up-and-down direction. For example, a rotating wheel rotatably connected to the flexible transmission member may be provided between the first driving wheel 321 and the first driven wheel 324. When the rotating wheel is rotatably provided on the first leg mechanism, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 324 remains parallel to the up-and-down direction. When the rotating wheel is rotatably provided on the second leg mechanism, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 321 is parallel to the up-and-down direction. The flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up-and-down direction. Similarly, as described above.

[0050] Similarly, due to the spatial structure arrangement, the flexible transmission member between the first transmission wheel 322 on the n-1 leg mechanism 10a and the second transmission wheel 323 on the n leg mechanism 10b may not be able to ensure that the entire section is parallel to the up and down direction, but it is sufficient to ensure that the flexible transmission member connecting the n-1 leg mechanism 10a and the n leg mechanism 10b remains parallel to the up and down direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323. After the first flexible transmission member 325 is connected to the first driving wheel 321, it may be connected to several first transmission wheels 322 and then to the second transmission wheel 323. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the n-1 leg mechanism 10a and the transmission wheel connected to the n leg mechanism 10b remains parallel to the up and down direction, that is, the first flexible transmission member 325 remains parallel to the up and down direction through the flexible transmission member between the last first transmission wheel 322 connected to the n-1 leg mechanism 10a and the first second transmission wheel 323 connected to the n leg mechanism 10b.

[0051] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 on the nth leg mechanism 10b on the n-1th leg mechanism 10a at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the n-1th leg mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the nth leg mechanism 10b remains parallel to the up-down direction; when the rotating wheel is rotatably set on the nth leg mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the n-1th leg mechanism 10a remains parallel to the up-down direction.

[0052] The reason why at least a portion of the flexible transmission member between the third transmission wheel 342 on the (n-1)th leg mechanism 10a and the fourth transmission wheel 343 on the nth leg mechanism 10b is configured to be parallel to the up-down direction is the same as described above.

[0053] It should be noted that, when the nth leg mechanism 10b makes a linear extension movement relative to the n-1th leg mechanism 10a, the second transmission wheel 323 and the fourth transmission wheel 343 cannot continue to move downward after reaching a certain position, otherwise, the first flexible transmission member 325 cannot drive the nth leg mechanism 10b to move downward relative to the n-1th leg mechanism 10a by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the nth leg mechanism 10b to move downward relative to the n-1th leg mechanism 10a by applying a downward force to the fourth transmission wheel 343. For example, when the nth leg mechanism 10b is extended to its longest length relative to the n-1th leg mechanism 10a, the lowest point height of the first transmission wheel 322 on the n-1th leg mechanism 10a is A, and the highest point height of the second transmission wheel 323 on the n-1th leg mechanism 10b is B, and B cannot be lower than A, so that the first flexible transmission member 325 can drive the nth leg mechanism 10b to move downward relative to the n-1th leg mechanism 10a by applying a downward force to the second transmission wheel 323. When the nth leg mechanism 10b is extended to its longest length relative to the n-1th leg mechanism 10a, the lowest point height of the third transmission wheel 342 on the n-1th leg mechanism 10a is C, and the highest point height of the fourth transmission wheel 343 on the n-1th leg mechanism 10b is D, and D cannot be less than C, and the second flexible transmission member 344 can drive the nth leg mechanism 10b to move downward relative to the n-1th leg mechanism 10a by applying a downward force to the fourth transmission wheel 343. That is, when the second transmission wheel 323 moves downward to be tangent to the first transmission wheel 322, the second transmission wheel 323 cannot move further; when the fourth transmission wheel 343 moves downward to be tangent to the third transmission wheel 342, the fourth transmission wheel 343 cannot move further. Each leg mechanism 10 of the present application is provided with a limit structure, so that when the nth leg mechanism 10b moves downward to a certain position relative to the n-1th leg mechanism 10a, it cannot move downward further, so as to ensure that it cannot be lower than or less than.

[0054] In some embodiments, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 rotates, and the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism 10b remains stationary relative to the n-1th leg mechanism 10a; when the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 does not rotate, and the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism 10b moves linearly in the up-down direction relative to the n-1th leg mechanism 10a.

[0055] When the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the second leg mechanism moves linearly in the up and down directions relative to the first leg mechanism while the foot assembly 20 rotates, and similarly, the nth leg mechanism 10b moves linearly in the up and down directions relative to the n-1th leg mechanism 10a.

[0056] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0057] In some embodiments, the mechanical leg 100 has a left and right direction, which is perpendicular to the up and down direction; the first motor 31 and the second motor 33 are symmetrically arranged in the left and right directions and rotate coaxially; the first flexible transmission member 325 and the second flexible transmission member 344 are mirror-arranged; the first transmission wheel 322 and the third transmission wheel 342 are symmetrically arranged; the second transmission wheel 323 and the fourth transmission wheel 343 are symmetrically arranged; the direction of the rotation axis of the first motor 31 and the second motor 33 is parallel to the direction of the rotation axis of the foot assembly 20.

[0058] In this embodiment, the rotation axes of the first motor 31 , the second motor 33 , and the foot assembly 20 are parallel to the left-right direction.

[0059] In some embodiments, the first motor 31 and the second motor 33 can rotate about different axes. The axes of the first motor 31 and the second motor 33 are parallel, and the two axes are staggered.

[0060] In this embodiment, the shafts of the first motor 31 and the second motor 33 are arranged relative to each other. In some other embodiments, the shafts of the first motor 31 and the second motor 33 may be arranged to be nested with each other.

[0061] Since the downward and upward moving distance of the second leg mechanism is not only limited by the distance between the first transmission wheel 322 and the second transmission wheel 323, but also by the distance between the third transmission wheel 342 and the fourth transmission wheel 343, for example, when the second leg mechanism is extended relative to the first leg mechanism, the distance between the first transmission wheel 322 and the second transmission wheel 323 is E, and the distance between the third transmission wheel 342 and the fourth transmission wheel 343 is F, when E is less than F, the maximum movement distance of the second leg mechanism relative to the first leg mechanism is E, that is, the movement distance of the second leg mechanism is the smallest one between E and F.

[0062] In this embodiment, the first flexible transmission member 325 and the second flexible transmission member 344 are arranged in a mirror image; the first transmission wheel 322 and the third transmission wheel 342 are arranged symmetrically; the second transmission wheel 323 and the fourth transmission wheel 343 are arranged symmetrically, so that the distance between E and F is consistent, making the structure compact, the mechanical leg 100 of the robot 1000 is small, and the moving range of the second leg mechanism is maximized as much as possible within the limited structural space.

[0063] In this embodiment, the first driving wheel 321, the second transmission wheel 323, the fourth transmission wheel 343, the second driving wheel 341, and the first driven wheel 324 are synchronous pulleys, the first flexible transmission member 325 and the second flexible transmission member 344 are synchronous belts, the first flexible transmission member 325 is meshed with the first driving wheel 321, the first driven wheel 324, and the second transmission wheel 323 for transmission, and the second flexible transmission member 344 is meshed with the first driven wheel 324, the second driving wheel 341, and the fourth transmission wheel 343 for transmission; the first transmission wheel 322 and the third transmission wheel 342 are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member 325 is wound around and connected with the first transmission wheel 322, and the non-toothed surface of the second flexible transmission member 344 is wound around and connected with the third transmission wheel 342.

[0064] Optionally, the first flexible transmission member 325 and the second flexible transmission member 344 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the driving mechanism 30.

[0065] In this embodiment, the radius of the first driving wheel 321 and the second driving wheel 341 are the same, and the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the first driven wheel 324, make the mechanical leg 100 adapt to the harsh environment of rugged terrain or muddy, and improve the obstacle crossing ability of the robot 1000.

[0066] In the second aspect, the present embodiment provides a robot 1000, comprising a frame, a fuselage, and the mechanical leg 100 of the first aspect, wherein the frame is mounted to the fuselage, and the leg mechanism 10 is rotatably connected to the frame. Among them, the mechanical leg 100 in the embodiment of the present application can have the same structure as any of the mechanical legs 100 in the above embodiments, and can bring the same or similar beneficial effects. For details, please refer to the description in the above embodiments, which will not be repeated in this embodiment. In addition, the mechanical leg 100 arranged on the fuselage can be one or more, and those skilled in the art can set it accordingly according to actual needs.

[0067] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0068] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0069] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical leg, characterized in that: The mechanical leg comprises: A frame, for mounting to the body of the robot; A leg mechanism is rotatably connected to the frame, and the leg mechanism further comprises a first leg mechanism, a second leg mechanism and an nth leg mechanism. When the leg length of the leg mechanism is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom. The first leg mechanism comprises a seat frame, and the seat frame is used to be rotatably connected to the frame. The second leg mechanism is used to be slidably connected to the first leg mechanism, and so on. The nth leg mechanism is slidably connected to the n-1th leg mechanism, wherein n>2; a foot assembly connected to the lower end of the nth leg mechanism and rotatably connected to the nth leg mechanism; A driving mechanism, wherein a power source of the driving mechanism is connected to the upper end of the first leg mechanism, and the driving mechanism is connected to the foot assembly to drive the foot assembly to rotate relative to the nth leg mechanism; The driving mechanism is connected to the first leg mechanism to the nth leg mechanism and is used to drive the second leg mechanism to move linearly in the up and down direction relative to the first leg mechanism, and so on. The driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down direction relative to the n-1th leg mechanism, and the up and down direction is the extension direction of the first leg mechanism.

2. The mechanical leg according to claim 1, characterized in that: The driving mechanism includes a first driving member and a second driving member, the power sources of the first driving member and the second driving member are connected to the upper end of the first leg mechanism, and the first driving member is connected to the foot assembly and the first leg mechanism to the nth leg mechanism; The second driving member is connected with the first leg mechanism to the nth leg mechanism; The first driving member and the second driving member are used to work together to drive the foot assembly to rotate relative to the nth leg mechanism; The first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism; And by analogy, the first driving member and the second driving member are also used to work together to drive the nth leg mechanism to move linearly along the up and down direction relative to the (n-1)th leg mechanism, and the up and down direction is the extension direction of the first leg mechanism.

3. The mechanical leg according to claim 2, characterized in that: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the driving mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism is stationary relative to the n-1th leg mechanism; In the second motion state, the driving mechanism is used to drive the second leg mechanism to move linearly along the up-down direction relative to the first leg mechanism, and similarly, the driving mechanism is also used to drive the nth leg mechanism to move linearly along the up-down direction relative to the n-1th leg mechanism, and the foot assembly does not rotate; In the third motion state, the driving mechanism is used to drive the foot assembly to rotate while driving the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism, and so on. The driving mechanism is also used to drive the nth leg mechanism to move linearly along the up and down direction relative to the n-1th leg mechanism.

4. The mechanical leg according to claim 3, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the first motor is connected to the upper end of the first leg mechanism; The first transmission assembly is connected to the output shaft of the first motor and is connected to the foot assembly, the first leg mechanism, the second leg mechanism to the nth leg mechanism; The second driving member includes a second motor and a second transmission assembly, and the second motor is connected to the upper end of the first leg mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the first leg mechanism, the second leg mechanism to the nth leg mechanism; The first motor and the second motor are used to drive the first transmission assembly and the second transmission assembly respectively to cooperate with each other to drive the foot assembly to rotate relative to the nth leg mechanism and drive the nth leg mechanism to move linearly in the up and down directions relative to the n-1th leg mechanism.

5. The mechanical leg according to claim 4, characterized in that: The first transmission assembly includes a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member and at least one first driven wheel; The second transmission assembly includes a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotatably connected to the nth leg mechanism and connected to the foot assembly, and the first driven wheel can drive the foot assembly to rotate when rotating; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is rotatably disposed on the first leg mechanism to the n-1th leg mechanism; The second transmission wheel is rotatably disposed on the second leg mechanism to the nth leg mechanism; The third transmission wheel is rotatably disposed on the first leg mechanism to the n-1th leg mechanism; The fourth transmission wheel is rotatably disposed on the second leg mechanism to the nth leg mechanism; The first transmission wheel on the first leg mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel of the second leg mechanism is arranged between the second transmission wheel rotatably arranged on the second leg mechanism and the first moving wheel; Similarly, the first transmission wheel on the n-1th leg mechanism is arranged between the second transmission wheel rotatably arranged on the n-1th leg mechanism and the first driven wheel; The third transmission wheel on the first leg mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel of the second leg mechanism is arranged between the fourth transmission wheel rotatably arranged on the second leg mechanism and the first driven wheel; Similarly, the third transmission wheel on the n-1th leg mechanism is arranged between the fourth transmission wheel rotatably arranged on the n-1th leg mechanism and the first driven wheel; When the leg mechanism is extended to a long extent, the height of the highest point of the second transmission wheel on the second leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the first leg mechanism; By analogy, the height of the highest point of the second transmission wheel on the nth leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the n-1th leg mechanism; and the height of the highest point of the fourth transmission wheel of the second leg mechanism is not lower than the height of the lowest point of the third transmission wheel on the first leg mechanism, and so on, the height of the highest point of the fourth transmission wheel of the nth leg mechanism is not lower than the height of the lowest point of the third transmission wheel on the n-1th leg mechanism; The first flexible transmission member is connected to the first driving wheel, the first transmission wheel on the first leg mechanism to the n-1th leg mechanism, the second transmission wheel on the second leg mechanism to the nth leg mechanism, and the first driven wheel to form a closed transmission loop; The second flexible transmission member is connected to the second driving wheel, the third transmission wheel on the first leg mechanism to the n-1th leg mechanism, the fourth transmission wheel on the second leg mechanism to the nth leg mechanism, and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel on the first leg mechanism and the second transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; Similarly, the flexible transmission member between the first transmission wheel on the (n-1)th leg mechanism and the second transmission wheel on the (n)th leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the third transmission wheel on the first leg mechanism and the fourth transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; By analogy, at least a portion of the flexible transmission member between the third transmission wheel on the (n-1)th leg mechanism and the fourth transmission wheel on the (n)th leg mechanism is configured to be parallel to the up-down direction.

6. The mechanical leg according to claim 5, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism remains stationary relative to the n-1th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism moves linearly in the up-down direction relative to the n-1th leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly in the up and down directions relative to the first leg mechanism while the foot assembly rotates, and similarly the nth leg mechanism moves linearly in the up and down directions relative to the n-1th leg mechanism.

7. The mechanical leg according to claim 6, characterized in that: The mechanical leg has a left-right direction, which is perpendicular to the up-down direction; The first motor and the second motor are symmetrically arranged in the left-right direction and rotate coaxially; The first flexible transmission member and the second flexible transmission member are arranged in mirror image; The first transmission wheel and the third transmission wheel are symmetrically arranged; The second transmission wheel and the fourth transmission wheel are symmetrically arranged.

8. The mechanical leg according to claim 7, characterized in that: The first driving wheel, the second transmission wheel, the fourth transmission wheel, the second driving wheel, and the first driven wheel are synchronous pulleys, the first flexible transmission member and the second flexible transmission member are synchronous belts, the first flexible transmission member meshes with the first driving wheel, the first driven wheel, and the second transmission wheel for transmission, and the second flexible transmission member meshes with the first driven wheel, the second driving wheel, and the fourth transmission wheel for transmission; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels. The non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel, and the non-toothed surface of the second flexible transmission member is wound and connected with the third transmission wheel.

9. The mechanical leg according to claim 8, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driven wheel is larger than that of the first driving wheel and the second driving wheel.

10. A robot, characterized in that: It comprises a frame, a fuselage and the mechanical leg according to any one of claims 1 to 9, wherein the frame is used to be installed on the fuselage, and the mechanical leg is rotatably connected to the frame.

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